Run

$ ionic serve

Output:

Running live reload server: http://localhost:35729
Watching: www/**/*, !www/lib/**/*, !www/**/*.map
√ Running dev server: http://localhost:8100
Ionic server commands, enter:
restart or r to restart the client app from the root
goto or g and a url to have the app navigate to the given url
consolelogs or c to enable/disable console log output
serverlogs or s to enable/disable server log output
quit or q to shutdown the server and exit